489 lines
22 KiB
C
489 lines
22 KiB
C
/**
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**************************************************************************
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* @file modbus.h
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* @brief Заголовочный файл модуля MODBUS.
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* @details Данный файл необходимо подключить в rs_message.h. После подключать
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* rs_message.h к основному проекту.
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*
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* @defgroup MODBUS
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* @brief Modbus stuff
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*
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*************************************************************************/
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#ifndef __MODBUS_H_
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#define __MODBUS_H_
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#include "modbus_config.h"
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#include "modbus_data.h"
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#include "__crc_algs.h"
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/**
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* @addtogroup MODBUS_SETTINGS
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* @ingroup MODBUS
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* @brief Some defines for modbus
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@{
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*/
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/////////////////////////////////////////////////////////////////////
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//////////////////////////---SETTINGS---/////////////////////////////
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// USER SETTINGS FOR MODBUS IN interface_config.h
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/**
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* @brief Поменять комманды 0x03 и 0x04 местами (для LabView терминалки от двигателей)
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* @details Терминалка от двигателей использует для чтения регистров комманду R_HOLD_REGS вместо R_IN_REGS
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* Поэтому чтобы считывать Input Regs - надо поменять их местами.
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*/
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//#define MODBUS_SWITCH_COMMAND_R_IN_REGS_AND_R_HOLD_REGS
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//////////////////////////---SETTINGS---/////////////////////////////
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/////////////////////////////////////////////////////////////////////
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////////////////////---MODBUS MESSAGE DEFINES---/////////////////////
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//-------------DEFINES FOR STRUCTURE----------------
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/* defines for structure of modbus message */
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#define MbAddr_SIZE 1 ///< size of (MbAddr)
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#define Func_Code_SIZE 1 ///< size of (Func_Code)
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#define Addr_SIZE 2 ///< size of (Addr)
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#define Qnt_SIZE 2 ///< size of (Qnt)
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#define ByteCnt_SIZE 1 ///< size of (ByteCnt)
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#define DATA_SIZE 125 ///< maximum number of data: DWORD (NOT MESSAGE SIZE)
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#define CRC_SIZE 2 ///< size of (MB_CRC) in bytes
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/** @brief Size of whole message */
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#define INFO_SIZE_MAX (MbAddr_SIZE+Func_Code_SIZE+Addr_SIZE+Qnt_SIZE+ByteCnt_SIZE)
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/** @brief Size of first part of message that will be received
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first receive info part of message, than defines size of rest message*/
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#define RX_FIRST_PART_SIZE INFO_SIZE_MAX
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/** @brief Size of buffer: max size of whole message */
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#define MSG_SIZE_MAX (INFO_SIZE_MAX + DATA_SIZE*2 + CRC_SIZE) // max possible size of message
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/** @brief Structure for modbus exception codes */
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typedef enum //MB_ExceptionTypeDef
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{
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// reading
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NO_ERRORS = 0x00, ///< no errors
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ILLEGAL_FUNCTION = 0x01, ///< Принятый код функции не может быть обработан
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ILLEGAL_DATA_ADDRESS = 0x02, ///< Адрес данных, указанный в запросе, недоступен
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ILLEGAL_DATA_VALUE = 0x03, ///< Значение, содержащееся в поле данных запроса, является недопустимой величиной
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SLAVE_DEVICE_FAILURE = 0x04, ///< Невосстанавливаемая ошибка имела место, пока ведомое устройство пыталось выполнить затребованное действие
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// ACKNOWLEDGE = 0x05, ///< idk
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// SLAVE_DEVICE_BUSY = 0x06, ///< idk
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// MEMORY_PARITY_ERROR = 0x08, ///< idk
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}MB_ExceptionTypeDef;
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#define ERR_VALUES_START 0x80U ///< from this value starts error func codes
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/** @brief Structure for modbus func codes */
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typedef enum //MB_FunctonTypeDef
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{
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/* COMMANDS */
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// reading
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MB_R_COILS = 0x01, ///< Чтение битовых ячеек
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MB_R_DISC_IN = 0x02, ///< Чтение дискретных входов
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#ifndef MODBUS_SWITCH_COMMAND_R_IN_REGS_AND_R_HOLD_REGS
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MB_R_HOLD_REGS = 0x03, ///< Чтение входных регистров
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MB_R_IN_REGS = 0x04, ///< Чтение регистров хранения
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#else
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MB_R_HOLD_REGS = 0x04, ///< Чтение входных регистров
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MB_R_IN_REGS = 0x03, ///< Чтение регистров хранения
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#endif
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// writting
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MB_W_COIL = 0x05, ///< Запись битовой ячейки
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MB_W_HOLD_REG = 0x06, ///< Запись одиночного регистра
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MB_W_COILS = 0x0F, ///< Запись нескольких битовых ячеек
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MB_W_HOLD_REGS = 0x10, ///< Запись нескольких регистров
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MB_R_DIAGNOSTIC = 0x08, ///< Чтение диагностической информации устройства
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MB_R_DEVICE_INFO = 0x2B, ///< Чтение информации об устройстве
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/* ERRORS */
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// error reading
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MB_ERR_R_COILS = MB_R_COILS + ERR_VALUES_START, ///< Ошибка чтения битовых ячеек
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MB_ERR_R_DISC_IN = MB_R_DISC_IN + ERR_VALUES_START, ///< Ошибка чтения дискретных входов
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MB_ERR_R_IN_REGS = MB_R_IN_REGS + ERR_VALUES_START, ///< Ошибка чтения регистров хранения
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MB_ERR_R_HOLD_REGS = MB_R_HOLD_REGS + ERR_VALUES_START, ///< Ошибка чтения входных регистров
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// error writting
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MB_ERR_W_COIL = MB_W_COIL + ERR_VALUES_START, ///< Ошибка записи битовой ячейки
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MB_ERR_W_HOLD_REG = MB_W_HOLD_REG + ERR_VALUES_START, ///< Ошибка записи одиночного регистра
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MB_ERR_W_COILS = MB_W_COILS + ERR_VALUES_START, ///< Ошибка записи нескольких битовых ячеек
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MB_ERR_W_HOLD_REGS = MB_W_HOLD_REGS + ERR_VALUES_START, ///< Ошибка записи нескольких регистров
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MB_ERR_R_DIAGNOSTIC = MB_R_DIAGNOSTIC + ERR_VALUES_START, ///< Ошибка чтения диагностической информации устройства
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MB_ERR_R_DEVICE_INFO = MB_R_DEVICE_INFO + ERR_VALUES_START, ///< Ошибка чтения информации об устройстве
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}MB_FunctonTypeDef;
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/** @brief Structure for modbus diagnostics sub-functions codes */
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typedef enum
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{
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RETURN_QUERRY_DATA = 0x0,
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RESTART_COMM_OPTIONS = 0x1,
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RETURN_DIAG_REG = 0x2,
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CHANGE_ASCII_INPUT_DELIMITER = 0x3,
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FORCE_LISTEN_ONLY_MODE = 0x4,
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CLEAR_CNT_AND_DIAG_REG = 0xA,
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RETURN_BUS_MSG_CNT = 0xB,
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RETURN_BUS_COMM_ERR_CNT = 0xC,
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RETURN_BUS_EXCEPT_ERR_CNT = 0xD,
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RETURN_SLAVE_MSG_CNT = 0xE,
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RETURN_SLAVE_NO_RESP_CNT = 0xF,
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RETURN_SLAVE_NAK_CNT = 0x10,
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RETURN_SLAVE_BUSY_CNT = 0x11,
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RETURN_BUS_CHAR_OVERRUN = 0x12,
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CLEAR_OVR_CNT_AND_FLAG = 0x12,
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}MB_DiagnosticsSubFunctionTypeDef;
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/** @brief Structure for MEI func codes */
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typedef enum //MB_FunctonTypeDef
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{
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MEI_DEVICE_IDENTIFICATION = 0x0E,
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}MB_MEITypeDef;
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/** @brief Structure for comformity */
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typedef enum //MB_FunctonTypeDef
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{
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MB_BASIC_IDENTIFICATION = 0x01, /*!< @brief Basic Device Identification.
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@details All objects of this category are mandatory:
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VendorName,Product code, and revision number */
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MB_REGULAR_IDENTIFICATION = 0x02, /*!< @brief Regular Device Identification.
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@details The device provides additional and optional
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identification and description data objects */
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MB_EXTENDED_IDENTIFICATION = 0x03, /*!< @brief Extended Device Identification.
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@details The device provides additional and optional
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identification and description private data about the physical
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device itself. All of these data are device dependent. */
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MB_SPEDIFIC_IDENTIFICATION = 0x04, /*!< @brief Specific Device Identification.
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@details The device provides one specific identification object. */
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/* ERRORS */
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MB_ERR_BASIC_IDENTIFICATION = MB_BASIC_IDENTIFICATION + ERR_VALUES_START,
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MB_ERR_REGULAR_IDENTIFICATION = MB_REGULAR_IDENTIFICATION + ERR_VALUES_START,
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MB_ERR_EXTENDED_IDENTIFICATION = MB_REGULAR_IDENTIFICATION + ERR_VALUES_START,
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MB_ERR_SPEDIFIC_IDENTIFICATION = MB_REGULAR_IDENTIFICATION + ERR_VALUES_START,
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}MB_ConformityTypeDef;
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/** @brief Structure for decive identification message type */
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typedef struct
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{
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MB_MEITypeDef MEI_Type; ///< MEI Type assigned number for Device Identification Interface
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MB_ConformityTypeDef ReadDevId;
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MB_ConformityTypeDef Conformity;
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uint8_t MoreFollows;
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uint8_t NextObjId;
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uint8_t NumbOfObj;
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}MB_DevIdMsgTypeDef;
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/** @brief Structure for modbus messsage */
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typedef struct // RS_MsgTypeDef
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{
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uint8_t MbAddr; ///< Modbus Slave Address
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MB_FunctonTypeDef Func_Code; ///< Modbus Function Code
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MB_DevIdMsgTypeDef DevId; ///< Read Device Identification Header struct
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uint16_t Addr; ///< Modbus Address of data
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uint16_t Qnt; ///< Quantity of modbus data
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uint8_t ByteCnt; ///< Quantity of bytes of data in message to transmit/receive
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uint16_t DATA[DATA_SIZE]; ///< Modbus Data
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MB_ExceptionTypeDef Except_Code; ///< Exception Code for the command
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uint16_t MB_CRC; ///< Modbus CRC
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}RS_MsgTypeDef;
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//--------------------------------------------------
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extern RS_MsgTypeDef MODBUS_MSG;
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////////////////////---MODBUS MESSAGE DEFINES---/////////////////////
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/////////////////////////////////////////////////////////////////////
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///////////////---DEVICE IDENTIVICATIONS DEFINES---//////////////////
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/** @brief Структура для объекта (идентификатора устройства модбас) */
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typedef struct
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{
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unsigned length;
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char *name;
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}MB_DeviceObjectTypeDef;
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/** @brief Структура со идентификаторами устройства модбас */
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typedef struct
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{
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MB_DeviceObjectTypeDef VendorName;
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MB_DeviceObjectTypeDef ProductCode;
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MB_DeviceObjectTypeDef Revision;
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MB_DeviceObjectTypeDef VendorUrl;
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MB_DeviceObjectTypeDef ProductName;
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MB_DeviceObjectTypeDef ModelName;
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MB_DeviceObjectTypeDef UserApplicationName;
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MB_DeviceObjectTypeDef Reserved[0x79];
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MB_DeviceObjectTypeDef User[MODBUS_NUMB_OF_USEROBJECTS];
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}MB_DeviceIdentificationTypeDef;
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extern MB_DeviceIdentificationTypeDef MB_DEVID;
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void MB_DeviceInentificationInit(void);
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///////////////---DEVICE IDENTIVICATIONS DEFINES---//////////////////
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/////////////////////////////////////////////////////////////////////
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/////////////////---DEVICE DIAGNOSTICS DEFINES---////////////////////
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/** @brief Структура со диагностической информацией устройства модбас */
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typedef struct
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{
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uint16_t DiagnosticRegister;
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struct
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{
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uint16_t BusMessage;
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uint16_t BusCommunicationErr;
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uint16_t BusExceptionErr;
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uint16_t SlaveMessage;
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uint16_t SlaveNoResponse;
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uint16_t SlaveNAK;
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uint16_t SlaveBusy;
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uint16_t BusCharacterOverrun;
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}Counters;
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}MB_DiagnosticsInfoTypeDef;
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extern MB_DiagnosticsInfoTypeDef MB_DINFO;
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/////////////////---DEVICE DIAGNOSTICS DEFINES---////////////////////
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/** MODBUS_SETTINGS
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* @}
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*/
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/////////////////////////////////////////////////////////////////////
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////////////////////---MODBUS FUNCTION DEFINES---////////////////////
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/**
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* @addtogroup MODBUS_MESSAGE_DEFINES
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* @ingroup MODBUS
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* @brief Some defines for modbus
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@{
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*/
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/** @brief Structure for coils operation */
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typedef enum
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{
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SET_COIL,
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RESET_COIL,
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TOOGLE_COIL,
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}MB_CoilsOpTypeDef;
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//--------------------------------------------------
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/**
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* @brief Macros to set pointer to 16-bit array
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* @param _arr_ - массив регистров (16-бит).
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*/
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#define MB_Set_Arr16_Ptr(_arr_) ((uint16_t*)(&(_arr_)))
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/**
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* @brief Macros to set pointer to register
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* @param _parr_ - массив регистров.
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* @param _addr_ - Номер регистра (его индекс) от начала массива _arr_.
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*/
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#define MB_Set_Register_Ptr(_parr_, _addr_) ((uint16_t *)(_parr_)+(_addr_))
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/**
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* @brief Macros to set pointer to a certain register that contains certain coil
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* @param _parr_ - массив коилов.
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* @param _coil_ - Номер коила от начала массива _arr_.
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* @note Используется вместе с @ref MB_Set_Coil_Mask
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@verbatim Пояснение выражений
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(_coil_/16) - get index (address shift) of register that contain certain coil
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Visual explanation: 30th coil in coils registers array
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xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxCx
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|register[0]----| |register[1]----|
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|skip this------| |get this-------|
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|shift to 14 bit|
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@endverbatim
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*/
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#define MB_Set_Coil_Reg_Ptr(_parr_, _coil_) ((uint16_t *)(_parr_)+((_coil_)/16))
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/**
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* @brief Macros to set mask to a certain bit in coils register
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* @param _coil_ - Номер коила от начала массива _arr_.
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* @note Используется вместе с @ref MB_Set_Coil_Reg_Ptr
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@verbatim Пояснение выражений
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(16*(_coil_/16) - how many coils we need to skip. e.g. (16*30/16) - skip 16 coils from first register
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_coil_-(16*(_coil_/16)) - shift to certain coil in certain register
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e.g. Coil(30) gets in register[1] (30/16 = 1) coil №14 (30 - (16*30/16) = 30 - 16 = 14)
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Visual explanation: 30th coil in coils registers array
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xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxCx
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|register[0]----| |register[1]----|
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|skip this------| |get this-------|
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|shift to 14 bit|
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@endverbatim
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*/
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#define MB_Set_Coil_Mask(_coil_) (1 << ( _coil_ - (16*((_coil_)/16)) ))
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/**
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* @brief Read Coil at its local address.
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* @param _parr_ - массив коилов.
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* @param _coil_ - Номер коила от начала массива _arr_.
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* @return uint16_t - Возвращает запрошенный коил на 0м бите.
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*
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* @details Позволяет обратиться к коилу по адресу относительно _arr_.
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*/
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#define MB_Read_Coil_Local(_parr_, _coil_) (( *MB_Set_Coil_Reg_Ptr(_parr_, _coil_) & MB_Set_Coil_Mask(_coil_) ) >> (_coil_))
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/**
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* @brief Set Coil at its local address.
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* @param _parr_ - указатель на массив коилов.
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* @param _coil_ - Номер коила от начала массива _arr_.
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*
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* @details Позволяет обратиться к коилу по адресу относительно _arr_.
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*/
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#define MB_Set_Coil_Local(_parr_, _coil_) *MB_Set_Coil_Reg_Ptr(_parr_, _coil_) |= MB_Set_Coil_Mask(_coil_)
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/**
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* @brief Reset Coil at its local address.
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* @param _parr_ - указатель на массив коилов.
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* @param _coil_ - Номер коила от начала массива _arr_.
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*
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* @details Позволяет обратиться к коилу по адресу относительно _arr_.
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*/
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#define MB_Reset_Coil_Local(_parr_, _coil_) *MB_Set_Coil_Reg_Ptr(_parr_, _coil_) &= ~(MB_Set_Coil_Mask(_coil_))
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/**
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* @brief Set Coil at its local address.
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* @param _parr_ - указатель на массив коилов.
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* @param _coil_ - Номер коила от начала массива _arr_.
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*
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* @details Позволяет обратиться к коилу по адресу относительно _arr_.
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*/
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#define MB_Toogle_Coil_Local(_parr_, _coil_) *MB_Set_Coil_Reg_Ptr(_parr_, _coil_) ^= MB_Set_Coil_Mask(_coil_)
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/**
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* @brief Инициализация объектов
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* @details С помозью этого дефайна инициализируются объекты в @ref MB_DeviceInentificationInit
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*/
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#define MB_ObjectInit(_p_obj_, _userstring_) (_p_obj_)->length = sizeof(_userstring_);\
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(_p_obj_)->name = _userstring_;
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/**
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* @brief Инициализация пользовательских объектов
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* @details С помозью этого дефайна инициализируются пользовательские объекты в MB_DeviceInentificationInit
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*/
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#define MB_UserObjectInit(_pinfostruct_, _user_numb_) MB_ObjectInit(&(_pinfostruct_)->User[_user_numb_], MODBUS_USEROBJECT##_user_numb_##_NAME)
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//--------------------------------------------------
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//------------------OTHER DEFINES-------------------
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#define RegisterType_Holding 0
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#define RegisterType_Input 1
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#define RegisterType_Discrete 2
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// create hadnles and settings for uart, tim, rs with _modbus_ name
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//--------------------------------------------------
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#ifndef Divide_Up
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/**
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* @brief Calc dividing including remainder
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* @param _val_ - делимое.
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* @param _div_ - делитель.
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* @details Если результат деления без остатка: он возвращается как есть
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Если с остатком - округляется вверх
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*/
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//#define Divide_Up(_val_, _div_) (((_val_)%(_div_))? (_val_)/(_div_)+1 : (_val_)/_div_) /* через тернарный оператор */
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#define Divide_Up(_val_, _div_) ((_val_ - 1) / _div_) + 1 /* через мат выражение */
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#endif
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#ifndef ByteSwap16
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/**
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* @brief Swap between Little Endian and Big Endian
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* @param v - Переменная для свапа.
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* @return v (new) - Свапнутая переменная.
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* @details Переключения между двумя типами хранения слова: HI-LO байты и LO-HI байты.
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*/
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#define ByteSwap16(v) (((v&0xFF00) >> (8)) | ((v&0x00FF) << (8)))
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#endif
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/** GENERAL_MODBUS_STUFF
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* @}
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*/
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////////////////////---MODBUS MESSAGE DEFINES---/////////////////////
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/////////////////////////////////////////////////////////////////////
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/////////////////////////---FUNCTIONS---/////////////////////////////
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/**
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* @addtogroup MODBUS_FUNCTIONS
|
||
* @ingroup MODBUS
|
||
* @brief Function for controling modbus communication
|
||
*/
|
||
|
||
//----------------FUNCTIONS FOR USER----------------
|
||
/**
|
||
* @addtogroup MODBUS_DATA_ACCESS_FUNCTIONS
|
||
* @ingroup MODBUS_FUNCTIONS
|
||
* @brief Function for user use
|
||
@{
|
||
*/
|
||
/* First set up of MODBUS */
|
||
void MODBUS_FirstInit(void);
|
||
/* Set or Reset Coil at its global address */
|
||
MB_ExceptionTypeDef MB_Write_Coil_Global(uint16_t Addr, MB_CoilsOpTypeDef WriteVal);
|
||
/* Read Coil at its global address */
|
||
uint16_t MB_Read_Coil_Global(uint16_t Addr, MB_ExceptionTypeDef *Exception);
|
||
|
||
/** MODBUS_DATA_ACCESS_FUNCTIONS
|
||
* @}
|
||
*/
|
||
|
||
//---------PROCESS MODBUS COMMAND FUNCTIONS---------
|
||
/**
|
||
* @addtogroup MODBUS_CMD_PROCESS_FUNCTIONS
|
||
* @ingroup MODBUS_FUNCTIONS
|
||
* @brief Function process commands
|
||
@{
|
||
*/
|
||
/* Check is address valid for certain array */
|
||
MB_ExceptionTypeDef MB_Check_Address_For_Arr(uint16_t Addr, uint16_t Qnt, uint16_t R_ARR_ADDR, uint16_t R_ARR_NUMB);
|
||
/* Define Address Origin for Input/Holding Registers */
|
||
MB_ExceptionTypeDef MB_DefineRegistersAddress(uint16_t **pRegs, uint16_t Addr, uint16_t Qnt, uint8_t RegisterType);
|
||
/* Define Address Origin for coils */
|
||
MB_ExceptionTypeDef MB_DefineCoilsAddress(uint16_t **pCoils, uint16_t Addr, uint16_t Qnt, uint16_t *start_shift, uint8_t WriteFlag);
|
||
/* Proccess command Read Coils (01 - 0x01) */
|
||
uint8_t MB_Proccess_Read_Coils(RS_MsgTypeDef *modbus_msg);
|
||
/* Proccess command Read Holding Registers (03 - 0x03) */
|
||
uint8_t MB_Proccess_Read_Hold_Regs(RS_MsgTypeDef *modbus_msg);
|
||
/* Proccess command Read Input Registers (04 - 0x04) */
|
||
uint8_t MB_Proccess_Read_Input_Regs(RS_MsgTypeDef *modbus_msg);
|
||
/* Proccess command Write Single Coils (05 - 0x05) */
|
||
uint8_t MB_Proccess_Write_Single_Coil(RS_MsgTypeDef *modbus_msg);
|
||
/* Proccess command Write Single Coils (06 - 0x06) */
|
||
uint8_t MB_Proccess_Write_Single_Reg(RS_MsgTypeDef *modbus_msg);
|
||
/* Proccess command Write Multiple Coils (15 - 0x0F) */
|
||
uint8_t MB_Write_Miltuple_Coils(RS_MsgTypeDef *modbus_msg);
|
||
/* Proccess command Write Multiple Register (16 - 0x10) */
|
||
uint8_t MB_Proccess_Write_Miltuple_Regs(RS_MsgTypeDef *modbus_msg);
|
||
|
||
/** MODBUS_DATA_ACCESS_FUNCTIONS
|
||
* @}
|
||
*/
|
||
/////////////////////////---FUNCTIONS---/////////////////////////////
|
||
|
||
|
||
|
||
/////////////////////////////////////////////////////////////////////
|
||
/////////////////////////---CALC DEFINES---//////////////////////////
|
||
|
||
|
||
// TRACES DEFINES
|
||
#ifndef Trace_MB_UART_Enter
|
||
#define Trace_MB_UART_Enter()
|
||
#endif //Trace_MB_UART_Enter
|
||
|
||
#ifndef Trace_MB_UART_Exit
|
||
#define Trace_MB_UART_Exit()
|
||
#endif //Trace_MB_UART_Exit
|
||
|
||
#ifndef Trace_MB_TIM_Enter
|
||
#define Trace_MB_TIM_Enter()
|
||
#endif //Trace_MB_TIM_Enter
|
||
|
||
#ifndef Trace_MB_TIM_Exit
|
||
#define Trace_MB_TIM_Exit()
|
||
#endif //Trace_MB_TIM_Exit
|
||
|
||
#endif //__MODBUS_H_
|